zy-wcs.git - Gitblit

			@@ -4,6 +4,7 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.baomidou.mybatisplus.plugins.Page;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			@@ -94,6 +95,8 @@
			private WrkMastService wrkMastService;
			@Autowired
			private BasRgvMapService basRgvMapService;
			@Autowired
			private BasCrnOptService crnOptService;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -150,7 +153,7 @@
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.getWeight() > 1000) {
			if (!back && staProtocol.getWeight() > 15000) {
			errMsg = "超重或未读取";
			back = true;
			}
			@@ -180,13 +183,14 @@
			if (!staProtocol.isPakMk()) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			staProtocol.setWorkNo(wrkNo);//退回工作号:10000
			News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
			wrkNo++;
			// wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
			break;//超限托盘退回不生成工作档
			}

			// 判断是否满足入库条件
			@@ -201,7 +205,7 @@

			staProtocol.setWorkNo(wrkNo);
			News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
			wrkNo++;
			// wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			@@ -220,6 +224,13 @@
			// }
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号=" + wrkMast.getWrkNo()));
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			continue;
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			@@ -308,7 +319,7 @@
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			// wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			@@ -320,7 +331,7 @@
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// }
			// News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}


			@@ -334,7 +345,7 @@

			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成");
			News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成");

			}

			@@ -413,11 +424,11 @@
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

			@@ -428,87 +439,87 @@
			continue;
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (!back && staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}
			if(staProtocol.getSiteId() > 400){
			back = false;
			}
			// boolean back = false;
			// String errMsg = "";
			// if (!back && staProtocol.isFrontErr()) {
			// errMsg = "前超限";
			// back = true;
			// }
			// if (!back && staProtocol.isBackErr()) {
			// errMsg = "后超限";
			// back = true;
			// }
			// if (!back && staProtocol.isHighErr()) {
			// errMsg = "高超限";
			// back = true;
			// }
			// if (!back && staProtocol.isLeftErr()) {
			// errMsg = "左超限";
			// back = true;
			// }
			// if (!back && staProtocol.isRightErr()) {
			// errMsg = "右超限";
			// back = true;
			// }
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			// if (!back && staProtocol.isBarcodeErr()) {
			// errMsg = "扫码失败";
			// back = true;
			// }
			// if(staProtocol.getSiteId() > 400){
			// back = false;
			// }

			// 退回
			if (back) {
			log.info("errmsg: " + errMsg);
			// if (back) {
			// log.info("errmsg: " + errMsg);
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
			wrkNo++;
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1：" + 9999 + "," + pickSta.getBackSta());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
			}
			continue;
			}
			if(staProtocol.getSiteId() < 400){
			if (!Cools.isEmpty(barcode)) {
			News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}


			if (!Cools.isEmpty(barcode)) {
			// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
			// if (!staProtocol.isLoading()) {
			// continue;
			// }
			// if (!staProtocol.isPakMk()) {
			// continue;
			// }
			// staProtocol.setWorkNo(wrkNo);
			// News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
			// wrkNo++;
			// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发1：" + 9999 + "," + pickSta.getBackSta());
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			//
			// // led 异常显示
			// if (ledThread != null) {
			// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
			// }
			// continue;
			// }
			// if(staProtocol.getSiteId() < 400){
			// if (!Cools.isEmpty(barcode)) {
			// News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// continue;
			// }
			// } else {
			// continue;
			// }
			//
			//
			// if (!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			}
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// continue;
			// }
			// } else {
			// continue;
			// }
			//
			// }


			if (staProtocol == null) {
			@@ -517,15 +528,16 @@
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			if(staProtocol.getSiteId() > 400){
			wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
			}
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			// if(staProtocol.getSiteId() > 400){
			// wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
			// }
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			// 无拣料数据
			@@ -552,12 +564,12 @@
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
			// News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// staProtocol.setWorkNo(wrkNo++);
			// staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			@@ -610,9 +622,9 @@

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			if(staProtocol.getSiteId() < 400){
			// if(staProtocol.getSiteId() < 400){
			staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
			}
			// }
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			@@ -628,7 +640,7 @@
			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成");
			News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成");
			}


			@@ -1194,14 +1206,18 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
			StaProtocol staProtocol1 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 1):devpThread.getStation().get(crnStn.getStaNo() - 1);
			// StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
			// StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
			if (staProtocol1 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
			break;
			} else {
			staProtocol1 = staProtocol1.clone();
			}
			StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
			StaProtocol staProtocol2 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 2):devpThread.getStation().get(crnStn.getStaNo());
			// StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
			// StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
			break;
			@@ -1209,7 +1225,7 @@
			staProtocol2 = staProtocol2.clone();
			}
			//出入口输送线只允许存在一个托盘
			if(staProtocol.isLoading() \|\| staProtocol1.isLoading() \|\| staProtocol2.isLoading() ) {
			if(staProtocol.isLoading() \|\| staProtocol1.isLoading() \|\| staProtocol2.isLoading() \|\| staProtocol.getWorkNo() != 0 \|\| staProtocol1.getWorkNo() != 0 \|\| staProtocol2.getWorkNo() != 0) {
			break;
			}

			@@ -1540,7 +1556,10 @@
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			if (crnProtocol.getTaskNo() == 9999){
			crnThread.setResetFlag(true);
			continue;
			}
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			@@ -1767,7 +1786,7 @@
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(dto.getWorkNo());
			ledCommand.setIoType(1);
			ledCommand.setTitle("全板入库");
			ledCommand.setTitle("空板入库");
			ledCommand.setLocNo(dto.getLocNo());
			ledCommand.setStaNo(dto.getStaNo());
			commands.add(ledCommand);
			@@ -1804,7 +1823,7 @@
			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
			News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
			}

			/**
			@@ -3192,4 +3211,69 @@
			}
			}

			public synchronized void crnMove() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getCrnNo()==1 && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
			continue;
			}
			Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
			if (basCrnOptPage != null && basCrnOptPage.getRecords() != null && basCrnOptPage.getRecords().size() > 0) {
			if (System.currentTimeMillis() - basCrnOptPage.getRecords().get(0).getSendTime().getTime() < 1000 * 60 * 3) {
			continue;
			}
			} else {
			if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
			continue;
			}
			}
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("crn_no", crn.getId())
			.notIn("wrk_sts", 5, 14, 15)
			);
			if (!wrkMasts.isEmpty()) {
			continue;
			}

			CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

			News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			// crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 堆垛机移动
			crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式: 站位转移
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			crnCommand.setCommand((short) 1);//任务确认位
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			}
			}
			}